fext adressing major enhancement

[Ipuch]

• Addressing External Force feature need to be refactored #112
• This should be possible to move forward in [WIP] Example of inverse dynamic #107

@ANaaim, Does it look familiar to you ? :p

fext = model.external_force_set()
fext.add_in_global_local_point(1, np.array([0.1, 0.2, 0.3, 0.01, 0.02, 0.03]), np.array([0.01, 0.02, 0.03]))
fext.add_in_global(2, np.array([0.1, 0.2, 0.3, 0.01, 0.02, 0.03]) * 0.1, np.array([0.01, 0.02, 0.03]) * 0.1)

torques, forces, lambdas = model.inverse_dynamics(Q=Q, Qddot=Qddot, external_forces=fext)

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